Robot arm with an additional output link

Abstract

A robot arm includes multiple joints and multiple links which can be adjusted relative to one another by movements of the joints of the robot arm. Each driven joint is paired with a drive device, and each drive device is designed to adjust the robot arm joint paired therewith, namely by automatic actuation of a motor of the respective drive device. The robot arm has a distal end link designed in the form of a tool flange, a hand link arranged directly upstream of the distal end link in the kinematic chain of the joints and links and on which the distal end link is rotatably mounted about a flange rotational axis. An additional output link is rotatably mounted on the hand link about a rotational axis that is parallel to the flange rotational axis and which is arranged on the hand link so as to lie opposite the distal end link.

What is claimed is: 
     
       1. A robot arm, comprising:
 a plurality of links connected by a plurality of joints to define a kinematic chain, wherein the links are adjustable relative to one another by movements of the joints; 
 each joint paired with a drive device configured to adjust the respective joint; 
 a distal end link designed in the form of a tool flange; 
 a hand link arranged directly upstream of the distal end link in the kinematic chain of the joints and links; 
 the distal end link rotatably mounted on the hand link about a flange rotational axis; and 
 an additional output link rotatably mounted on the hand link about a rotational axis that is parallel to the flange rotational axis, and which is arranged on the hand link so as to lie opposite the distal end link. 
 
     
     
       2. The robot arm of  claim 1 , wherein each drive device is designed to adjust the respectively paired joint by automatic actuation of a motor of the drive device. 
     
     
       3. The robot arm of  claim 1 , further comprising:
 a transmission arranged within the hand link; 
 the transmission configured to couple the additional output link to the distal end link in order to at least one of:
 convert a movement of the distal end link into a movement of the additional output link, or 
 convert a movement of the additional output link into a movement of the distal end link. 
 
 
     
     
       4. The robot arm of  claim 3 , wherein the transmission comprises a shaft configured to transmit a torque between the additional output link and the distal end link. 
     
     
       5. The robot arm of  claim 3 , wherein the transmission comprises a switchable coupling, the switchable coupling having an engaged state wherein the switchable coupling is configured to transmit a torque between the additional output link and the distal end link, and having a disengaged state wherein the switchable coupling is configured to interrupt a transmission of torque between the additional output link and the distal end link. 
     
     
       6. A robot arm, comprising:
 a plurality of links connected by a plurality of joints to define a kinematic chain, wherein the links are adjustable relative to one another by movements of the joints; 
 each joint paired with a drive device configured to adjust the respective joint; 
 a distal end link designed in the form of a tool flange; 
 a hand link arranged directly upstream of the distal end link in the kinematic chain of the joints and links; 
 the distal end link rotatably mounted on the hand link about a flange rotational axis; and 
 an additional output link rotatably mounted on the hand link about a rotational axis that is parallel to the flange rotational axis, and which is arranged on the hand link so as to lie opposite the distal end link; 
 wherein the distal end link is paired with a first drive device which is designed to move the distal end link; and 
 the additional output link is paired with a second drive device which is different from the first drive device and is designed to move the additional output link. 
 
     
     
       7. The robot arm of  claim 6 , wherein:
 the first drive device comprises a first motor; 
 the second drive device comprises a second motor; and 
 the first motor and the second motor are controllable by a control device in a manner dependent on one another. 
 
     
     
       8. The robot arm of  claim 7 , further comprising:
 at least one first position sensor paired with the distal end link, the at least one first position sensor configured to detect a rotational position of the distal end link; and 
 at least one second position sensor paired with the additional output link, the at least one second position sensor configured to detect a rotational position of the additional output link. 
 
     
     
       9. A robot arm, comprising:
 a plurality of links connected by a plurality of joints to define a kinematic chain, wherein the links are adjustable relative to one another by movements of the joints; 
 each joint paired with a drive device configured to adjust the respective joint; 
 a distal end link designed in the form of a tool flange; 
 a hand link arranged directly upstream of the distal end link in the kinematic chain of the joints and links; 
 the distal end link rotatably mounted on the hand link about a flange rotational axis; 
 an additional output link rotatably mounted on the hand link about a rotational axis that is parallel to the flange rotational axis, and which is arranged on the hand link so as to lie opposite the distal end link; and 
 a hand guide arranged on the hand link and connected to the additional output link such that at least one of:
 the additional output link is adjustable by manual actuation of the hand guide, or 
 the hand guide is automatically adjusted by automatic driving of the additional output link. 
 
 
     
     
       10. The robot arm of  claim 9 , wherein:
 the hand guide is manually detachably fastened to the hand link or to the additional output link; 
 the additional output link comprises a tool coupling configured for coupling an additional tool thereto; 
 in an attached state of the hand guide with the hand link or the additional output link, the tool coupling is covered by the hand guide; and 
 in a detached state of the hand guide from the hand link or the additional output link, the tool coupling is accessible for coupling the additional tool thereto. 
 
     
     
       11. The robot arm of  claim 9 , wherein the hand guide comprises at least one of:
 a grip portion designed for manually guiding the robot arm by a user's hand; 
 at least one input means designed for manually inputting control commands into a control device which actuates the robot arm; or 
 at least one display designed for optically displaying on the hand guide states of at least one of the robot arm or the control device.